CN102632977A - Underwater dry type carrying device for large-scale remote control submersible - Google Patents
Underwater dry type carrying device for large-scale remote control submersible Download PDFInfo
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- CN102632977A CN102632977A CN2012101103839A CN201210110383A CN102632977A CN 102632977 A CN102632977 A CN 102632977A CN 2012101103839 A CN2012101103839 A CN 2012101103839A CN 201210110383 A CN201210110383 A CN 201210110383A CN 102632977 A CN102632977 A CN 102632977A
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- rov
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 77
- 239000013505 freshwater Substances 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 230000001757 vomitory effect Effects 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 230000007935 neutral effect Effects 0.000 claims description 5
- 210000000003 hoof Anatomy 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 12
- 230000008569 process Effects 0.000 abstract description 9
- 230000008859 change Effects 0.000 abstract description 2
- 230000005484 gravity Effects 0.000 abstract description 2
- 108010066114 cabin-2 Proteins 0.000 description 32
- 239000013535 sea water Substances 0.000 description 7
- 238000012423 maintenance Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000011112 process operation Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
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Abstract
The invention discloses an underwater dry type carrying device for a large-scale remote control submersible. The underwater dry type carrying device is arranged inside a large-scale underwater vehicle, and comprises an ROV (Remotely-Operated Vehicle) carrying cabin, a load replacement water cabin and a control cabin. The carrying cabin is internally provided with an ROV and a control cable retracting system; a load replacement pipeline system is arranged inside the carrying cabin and the load replacement water cabin; water is pumped between two cabins by using a load replacement water pump; a staff access channel is arranged between the control cabin and the carrying cabin; and a watertight hatch cover is arranged at the bottom of the carrying cabin and is opened and closed through a hatch opening and closing mechanism. The carrying mode of 'carrying in the dry cabins and operating in fresh water' provided by the invention is good for maintainability and security of large-scale ROV underwater operation. In a protection process, the horizontal gravity position of a hull of an underwater vehicle almost does not change, so as to reduce the influence of an operating process on the hull.
Description
Technical field
The present invention relates to the submarine navigation device field, the underwater dry-type loading device of especially large-scale remote-operated vehicle.
Background technology
Remote-operated vehicle (ROV) is a kind of submersible that can carry out under-water operation through the cable remote control.Large-scale ROV can carry power tool to carry out under-water operation or observe to survey, in the general air weight about several tons, tens of kilowatts of power.Large-scale ROV carries under water on the sail body, can utilize underwater sailing body self maneuverability to strengthen its scope of work greatly, also can overcome the influence of water surface stormy waves stream to the ROV operation.
Have a kind of mode that observation type ROV is carried in the torpedo pipe of sail body under water in the prior art, observation type ROV volume weight is little, power about thousands of watts, operational capability a little less than; For it is carried in the torpedo pipe, it is designed to the size and dimension identical with the torpedo pipe; Through installation code penetrating piece on the power valve hatch cover, control observation type ROV and come in and go out and operation.Also there is certain weak point in this equipped system; The ROV that carries needs special design; Be unfavorable for carrying mature commercially produced product or large-scale operation type ROV, ROV lays needs the original buoyancy Adjustment System of underwater sailing body the attitude of self to be adjusted etc. in the process.
Summary of the invention
The applicant is carried the shortcoming that exists to above-mentioned existing ROV, a kind of underwater dry-type loading device of rational in infrastructure, easy to operate large-scale remote-operated vehicle is provided, thereby carries the requirement that large-scale ROV carries out under-water operation to satisfy underwater sailing body.
The technical scheme that the present invention adopted is following:
A kind of underwater dry-type loading device of large-scale remote-operated vehicle, it is inner to be arranged on large-scale underwater sailing body, comprises that ROV carries cabin, load replacement water tank and control cabinet.Carry cabin set inside ROV and ROV control cable extension and retraction system; Carry and be provided with load replacement pipeline system in cabin and the load replacement water tank, utilize load replacement water pump to realize the pump water between two cabins; Between control cabinet and the lift-launch cabin personnel's Vomitory is set; The bottom of carrying the cabin is provided with water tight hatch cover, realizes opening and closing through the hatch mechanism for opening/closing.
Further improvement as technique scheme: said lift-launch cabin is a globosity; Its outer shape of a hoof load replacement water tank around semi-surrounding; The center-of-gravity position in two cabins overlaps in horizontal surface, and in vertical surface, the center-of-gravity position of load replacement water tank is a little more than the center-of-gravity position that carries the cabin.
Said load replacement water tank all can be full of fresh water separately with the lift-launch cabin, and water capacity is suitable.
The internal face in said lift-launch cabin is equipped with buoyant material, and the ROV control cable of lift-launch is neutral cable.
The guide rail of hatch mechanism for opening/closing is welded on the body of underwater sailing body, and travelling car is through roller slippage on guide rail, and the piston of horizontal hydraulic cylinder is connected through linkwork with travelling car; Vertical hydraulic actuating cylinder is connected between water tight hatch cover and the travelling car.
Beneficial effect of the present invention is following:
Utilize apparatus of the present invention, proposed the method that a kind of brand new underwater dry-type carries large-scale ROV and carries out operation, this method may be summarized to be " do in the cabin and carry operation in the fresh water ", has taken into account the maintainability and the safety of large-scale ROV under-water operation preferably.This equipped system carries fresh water and carries out the load replacement in the operation process, and in load replacement process, fresh water also washes ROV, helps the maintaining of ROV.
In this equipped system, adopt spherical pressure shell as carrying the cabin, make full use of the advantage of spherical shell good pressure-resistant performance.Simultaneously, some idle spaces install buoyant material additional in spherical pressure shell, the weight and volume of the water that need replace when having reduced the ROV under-water operation.
This equipped system adopts shape of a hoof load replacement water tank; Through suitable layout; In can the water replacement process in load replaces water tank, the horizontal center-of-gravity position of underwater sailing body hull changes hardly, has reduced in the operation process operation counter-force to the influence of hull.
Description of drawings
Fig. 1 is the arrangement plan that the present invention uses on the sail body under water.
Fig. 2 is the birds-eye view of Fig. 1.
Fig. 3 cuts open figure in the layout in the spherical ROV lift-launch cabin.
Fig. 4 cuts open figure in the overlooking of Fig. 3.
Fig. 5 is that load replacement pipeline system is formed scheme drawing.
Fig. 6 carries cabin hatch mechanism for opening/closing scheme drawing.
Fig. 7 is the schematic flow sheet of the present invention when carrying out the ROV under-water operation.
Among the figure: 1, underwater sailing body; 2, carry the cabin; 3, load replacement water tank; 4, control cabinet; 5, hatch mechanism for opening/closing; 6, water tight hatch cover; 7, Vomitory; 8, load replacement water pump; 9, filter screen; 10, liquidometer; 11, load replacement control housing; 12, load replacement control path or pipeline; 13, external and internal pressure control cock; 20, ROV; 21, control cable extension and retraction system upper bracket; 22, control cable extension and retraction system lower bracket; 23, control cable extension and retraction system; 24, buoyant material; 25, side direction water tight hatch cover; 26, control cable; 51, screw connection structure; 52, vertical hydraulic actuating cylinder; 53, pilot bar; 54, travelling car; 55, roller; 56, guide rail; 57, linkwork; 58, piston; 59, horizontal hydraulic cylinder.
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described.
Like Fig. 1, shown in Figure 2, the present invention is arranged on large-scale underwater sailing body 1 inside, comprises that ball-shaped ROV carries cabin 2 and its outer shape of a hoof load replacement water tank 3 around semi-surrounding, and load replacement water tank 3 is for having the pressure-resistant cabin of branch cabin structure, and inside can be full of fresh water.The apparatus control system that the present invention relates to comprises that load replacement control housing 11, ROV controlling equipment etc. are arranged in the control cabinet 4 of underwater sailing body 1; Control cabinet 4 is cylindrical pressure-resistant cabin; And carry between the cabin 2 Vomitory 7 is set, personnel are also carried cabin 2 from this cabin through control cabinet 4 turnover and are carried out the maintenance of protecting of ROV equipment.The bottom of carrying cabin 2 is provided with water tight hatch cover 6, and water tight hatch cover 6 is realized opening and closing through hatch mechanism for opening/closing 5 slippage on guide rail 56 of carrying 2 bottoms, cabin.
For the use that the reduces apparatus of the present invention influence to underwater sailing body 1 body, the spatial destribution that carries cabin 2 and load replacement water tank 3 has carried out special design.Like Fig. 1, Fig. 2 and shown in Figure 5, in horizontal surface, the center-of-gravity position that carries cabin 2 and load replacement water tank 3 overlaps; In vertical surface, load replacement water tank 3 is more higher than the center-of-gravity position that carries cabin 2.When layout can guarantee between lift-launch cabin 2 and load replacement water tank 3, to carry out the water load replacement like this; Inclining in length and breadth of underwater sailing body 1 body can not produce big variation; And the vertical center gravity (VCG) height changes to beneficial direction, thereby has improved the safety that apparatus of the present invention are used.
Fig. 5 is that load replacement pipeline system of the present invention is formed scheme drawing.Carry in cabin 2 and the load replacement water tank 3 and all be provided with load replacement control path or pipeline 12, the pump water that utilizes load replacement water pump 8 to realize between two cabins.Load replacement water pump 8 is installed in and carries 2 inside, cabin; Filter screen 9 is used to filter dirt; Liquidometer 10 is used for indicating in real time the water level in two cabins.Load replacement control housing 11 carries out automatic guidance through 12 pairs of load replacement of control path pipeline system of watertight pressure-resistant cable.External and internal pressure control cock 13 is installed on the bulkhead that carries cabin 2, can open as required, is mainly used in balance and carries cabin 2 and the difference of pressure between the seawater out of my cabin.
Fig. 3, Fig. 4 are the internal placement scheme drawings that carries cabin 2.Carry cabin 2 except the water tight hatch cover 6 of bottom and sidewall with the side direction water tight hatch cover 25 that Vomitory 7 engages; All the other bulkhead space mounting have buoyant material 24; Its effect is that the idle space that carries in the cabin 2 is filled; Reduce the quantity of load replacement water, simultaneously positive buoyancy can be provided.Fixed control cable extension and retraction system 23 between control cable extension and retraction system upper bracket 21 in the lift-launch cabin 2 and the lower bracket 22; Control cable extension and retraction system 23 is mainly used in the neutrality control cable 26 of folding and unfolding ROV20.ROV20 also is fixed on through control cable extension and retraction system and carries in the cabin 2.
Fig. 6 is the scheme drawing that carries cabin 2 hatch mechanism for opening/closing 5.The piston of vertical hydraulic actuating cylinder 52 is connected on the water tight hatch cover 6 of bottom through screw connection structure 51, and at pilot bar 53 guiding lifting water tight hatch cover 6 down, makes it and carry cabin 2 to seal.Guide rail 56 is welded on underwater sailing body 1 body, and travelling car 54 is through roller 55 slippage on guide rail 56, and the piston 58 through horizontal hydraulic cylinder 59 drives.Hydraulic cylinder piston 58 is connected through linkwork 57 with travelling car 54.Travelling car 54 through horizontal sidesway, carries cabin 2 for ROV20 discrepancy passage is provided when ROV20 lays or reclaim.
Below in conjunction with Fig. 7 the present invention's each state when the real work is described.
(I) sail body 1 cruises in the process under water, is full of fresh water in the load replacement water tank 3, and it is inner anhydrous to carry cabin 2; For doing the cabin, bottom water tight hatch cover 6 is in closed condition, and side direction water tight hatch cover 25 can be opened as required; Be convenient to personnel's turnover, shown in Fig. 7 a.
When (II) sail body 1 need lay the ROV20 operation under water, at first replace fresh water in the water tank 3 of load is pumped under the effect of load replacement water pump 8 through load replacement pipeline system and carries cabin 2, see Fig. 7 b.After completion pumps into, the external and internal pressure control cock 13 of carrying cabin 2 to be opened, feasible hydraulic pressure and external water pressure balance of carrying cabin 2 seen Fig. 7 c.Utilize hatch mechanism for opening/closing 5 to remove bottom water tight hatch cover 6 at last, see Fig. 7 d; The winch of control cable extension and retraction system 23 discharges control cable 26, discharges ROV20 entering seawater and carries out operation, sees Fig. 7 e.
In the process of laying, because ROV20 is a neutral buoyancy, adopt neutral cable again, therefore along with the release of ROV20, will have a small amount of seawater and get into lift-launch cabin 2, but the buoyancy under water and the weight of underwater sailing body 1 change hardly with control cable 26.Because fresh water density ratio sea water density is little,, most fresh water carries in the cabin 2 again so will maintaining.
(III) reclaim ROV20 in the back that fulfils assignment, at first start-up control cable extension and retraction system 23 reclaims neutral control cable 26, and operation ROV20 makes a return voyage; Then, ROV20 gets into and carries cabin 2.In this removal process, ROV20 will discharge out of my cabin getting into the seawater that carries cabin 2 gradually.After ROV20 is recycled to assigned address, close water tight hatch cover 6, close the external and internal pressure control cock 13 of carrying cabin 2 then, make and carry cabin 2 and the airtight isolation of extraneous seawater.Start load replacement water pump 8 and will carry fresh water in the cabin 2 and pump into the load water tank 3 that replaces, return to state shown in Fig. 7 a.
(IV) sample of maintenance or disposal ROV and collection thereof can carry out in the cruising condition shown in Fig. 7 a or after ROV20 operation completion is recycled to lift-launch cabin 2; Personnel get into Vomitory 7 from the control cabinet 4 of underwater sailing body 1, open side direction water tight hatch cover 25, get into to carry maintenance ROV20 in the cabin 2.Maintenance is closed side direction water tight hatch cover 25 after accomplishing, and system gets into the state that can carry out operation at any time.
More than describing is to explanation of the present invention; Not that institute of the present invention restricted portion is referring to claim, under the situation of spirit of the present invention to the qualification of invention; The present invention can do any type of modification, for example in load replacement water tank, also can be full of seawater.
Claims (5)
1. the underwater dry-type loading device of a large-scale remote-operated vehicle; Be arranged on large-scale underwater sailing body (1) inside; It is characterized in that: comprise that ROV carries cabin (2), load replacement water tank (3) and control cabinet (4), carry cabin (2) set inside ROV (20) and control cable extension and retraction system (23); Carry and be provided with load replacement pipeline system in cabin (2) and the load replacement water tank (3), utilize load replacement water pump (8) to realize the pump water between two cabins; Between control cabinet (4) and the lift-launch cabin (2) personnel's Vomitory (7) is set; The bottom of carrying cabin (2) is provided with water tight hatch cover (6), realizes opening and closing through hatch mechanism for opening/closing (5).
2. according to the underwater dry-type loading device of the described large-scale remote-operated vehicle of claim 1; It is characterized in that: said lift-launch cabin (2) is globosity; Its outer shape of a hoof load replacement water tank (3) around semi-surrounding; The center-of-gravity position in two cabins overlaps in horizontal surface, and in vertical surface, the center-of-gravity position of load replacement water tank (3) is a little more than the center-of-gravity position that carries cabin (2).
3. according to the underwater dry-type loading device of the described large-scale remote-operated vehicle of claim 1, it is characterized in that: said load replacement water tank (3) and lift-launch cabin (2) all can be full of fresh water separately, and water capacity is suitable.
4. according to the underwater dry-type loading device of the described large-scale remote-operated vehicle of claim 1, it is characterized in that: the internal face in said lift-launch cabin (2) is equipped with buoyant material (24), and the ROV control cable (26) of lift-launch is neutral cable.
5. according to the underwater dry-type loading device of the described large-scale remote-operated vehicle of claim 1; It is characterized in that: the guide rail (56) of hatch mechanism for opening/closing (5) is welded on the body of underwater sailing body (1); Travelling car (54) is gone up slippage through roller (55) at guide rail (56), and the piston (58) of horizontal hydraulic cylinder (59) is connected through linkwork (57) with travelling car (54); Vertical hydraulic actuating cylinder (52) is connected between water tight hatch cover (6) and the travelling car (54).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210110383.9A CN102632977B (en) | 2012-04-16 | 2012-04-16 | Underwater dry type carrying device for large-scale remote control submersible |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210110383.9A CN102632977B (en) | 2012-04-16 | 2012-04-16 | Underwater dry type carrying device for large-scale remote control submersible |
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| Publication Number | Publication Date |
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| CN102632977A true CN102632977A (en) | 2012-08-15 |
| CN102632977B CN102632977B (en) | 2014-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210110383.9A Expired - Fee Related CN102632977B (en) | 2012-04-16 | 2012-04-16 | Underwater dry type carrying device for large-scale remote control submersible |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105539783A (en) * | 2015-12-21 | 2016-05-04 | 中国海洋石油总公司 | Opening and closing mechanism of light shell of submerging device |
| CN104458306B (en) * | 2014-12-04 | 2016-09-07 | 中国船舶重工集团公司第七○二研究所 | One dry and wet transfer test device under water |
| CN109715490A (en) * | 2016-09-20 | 2019-05-03 | 沙特***石油公司 | The reusable buoyant module of buoyancy control for underwater vehicles |
| CN110143269A (en) * | 2019-06-11 | 2019-08-20 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of various dimensions moving disk shape underwater glider |
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2012
- 2012-04-16 CN CN201210110383.9A patent/CN102632977B/en not_active Expired - Fee Related
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104458306B (en) * | 2014-12-04 | 2016-09-07 | 中国船舶重工集团公司第七○二研究所 | One dry and wet transfer test device under water |
| CN105539783A (en) * | 2015-12-21 | 2016-05-04 | 中国海洋石油总公司 | Opening and closing mechanism of light shell of submerging device |
| CN109715490A (en) * | 2016-09-20 | 2019-05-03 | 沙特***石油公司 | The reusable buoyant module of buoyancy control for underwater vehicles |
| CN109715490B (en) * | 2016-09-20 | 2021-07-20 | 沙特***石油公司 | Reusable buoyancy module for buoyancy control of an underwater vehicle |
| CN110143269A (en) * | 2019-06-11 | 2019-08-20 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of various dimensions moving disk shape underwater glider |
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| CN102632977B (en) | 2014-08-27 |
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Granted publication date: 20140827 |